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    Change detection using curve alignment
    24.
    发明授权
    Change detection using curve alignment 有权

    公开(公告)号：US11829138B1

    公开(公告)日：2023-11-28

    申请号：US17705967

    申请日：2022-03-28

    Applicant: Waymo LLC

    Inventor： David Harrison Silver ,  David I. Ferguson

    IPC: G05D1/00 ,  G01C21/32 ,  G05D1/02 ,  B60W30/095 ,  B60W30/10 ,  G08G1/16 ,  B62D6/00

    CPC classification number: G05D1/0088 ,  B60W30/0956 ,  B60W30/10 ,  B62D6/00 ,  G01C21/32 ,  G05D1/0214 ,  G08G1/16

    Abstract: Aspects of the disclosure relate to determining whether a feature of map information. For example, data identifying an object detected in a vehicle's environment and including location coordinates is received. This information is used to identify a corresponding feature from pre-stored map information based on a map location of the corresponding feature. The corresponding feature is defined as a curve and associated with a tag identifying a type of the corresponding object. A tolerance constraint is identified based on the tag. The curve is divided into two or more line segments. Each line segment has a first position. The first position of a line segment is changed in order to determine a second position based on the location coordinates and the tolerance constraint. A value is determined based on a comparison of the first position to the second position. This value indicates a likelihood that the corresponding feature has changed.

    Detecting and responding to processions for autonomous vehicles
    26.
    发明授权
    Detecting and responding to processions for autonomous vehicles 有权

    公开(公告)号：US11537128B2

    公开(公告)日：2022-12-27

    申请号：US16993672

    申请日：2020-08-14

    Applicant: Waymo LLC

    Inventor： David Harrison Silver ,  Qichi Yang

    IPC: G01C22/00 ,  G05D1/00 ,  B60W30/18 ,  G06V20/58

    Abstract: The technology relates to detecting and responding to processions. For instance, sensor data identifying two or more objects in an environment of a vehicle may be received. The two or more objects may be determined to be disobeying a predetermined rule in a same way. Based on the determination that the two or more objects are disobeying a predetermined rule, that the two or more objects are involved in a procession may be determined. The vehicle may then be controlled autonomously in order to respond to the procession based on the determination that the two or more objects are involved in a procession.

    DETECTING AND RESPONDING TO SOUNDS FOR AUTONOMOUS VEHICLES
    28.
    发明申请
    DETECTING AND RESPONDING TO SOUNDS FOR AUTONOMOUS VEHICLES 有权

    公开(公告)号：US20210232152A1

    公开(公告)日：2021-07-29

    申请号：US17195882

    申请日：2021-03-09

    Applicant: Waymo LLC

    Inventor： David Harrison Silver ,  Jennifer Taylor

    IPC: G05D1/02 ,  G05D1/00 ,  H04R5/027 ,  B60R11/02

    Abstract: The technology relates to detecting and responding to sounds for a vehicle having an autonomous driving mode. In one example, an audible signal corresponding to a sound received at one or more microphones of the vehicle may be received. Sensor data generated by a perception system of the vehicle identifying objects in an environment of the vehicle may be received. A type of sound may be determined by inputting the audible signal into a classifier. A set of additional signals may be determined based on the determined type of sound. The sensor data may be processed in order to identify one or more additional signals of the identified set of additional signals. The vehicle may be controlled in the autonomous driving mode in order to respond to the sound based on the one or more additional signals and the type of sound.

    Detecting General Road Weather Conditions
    29.
    发明申请
    Detecting General Road Weather Conditions 有权

    公开(公告)号：US20210132628A1

    公开(公告)日：2021-05-06

    申请号：US17079693

    申请日：2020-10-26

    Applicant: Waymo LLC

    Inventor： David Harrison Silver ,  Jens-Steffen Ralf Gutmann ,  Michael James

    IPC: G05D1/02 ,  G01S17/95 ,  G01S15/88 ,  G01S13/95 ,  B60W10/04 ,  B60W10/18 ,  B60W10/20 ,  B60W30/02 ,  G01W1/02

    Abstract: The technology relates to determining general weather conditions affecting the roadway around a vehicle, and how such conditions may impact driving and route planning for the vehicle when operating in an autonomous mode. For instance, the on-board sensor system may detect whether the road is generally icy as opposed to a small ice patch on a specific portion of the road surface. The system may also evaluate specific driving actions taken by the vehicle and/or other nearby vehicles. Based on such information, the vehicle's control system is able to use the resultant information to select an appropriate braking level or braking strategy. As a result, the system can detect and respond to different levels of adverse weather conditions. The on-board computer system may share road condition information with nearby vehicles and with remote assistance, so that it may be employed with broader fleet planning operations.

    Detecting and responding to sounds for autonomous vehicles
    30.
    发明授权
    Detecting and responding to sounds for autonomous vehicles 有权

    公开(公告)号：US10976748B2

    公开(公告)日：2021-04-13

    申请号：US16108411

    申请日：2018-08-22

    Applicant: Waymo LLC

    Inventor： David Harrison Silver ,  Jennifer Taylor

    IPC: G05D1/02 ,  G05D1/00 ,  H04R5/027 ,  B60R11/02 ,  B60W60/00

    Abstract: The technology relates to detecting and responding to sounds for a vehicle having an autonomous driving mode. In one example, an audible signal corresponding to a sound received at one or more microphones of the vehicle may be received. Sensor data generated by a perception system of the vehicle identifying objects in an environment of the vehicle may be received. A type of sound may be determined by inputting the audible signal into a classifier. A set of additional signals may be determined based on the determined type of sound. The sensor data may be processed in order to identify one or more additional signals of the identified set of additional signals. The vehicle may be controlled in the autonomous driving mode in order to respond to the sound based on the one or more additional signals and the type of sound.

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